Autonomous underwater vehicle control using reinforcement learning policy search methods

Autonomous underwater vehicles (AUV) represent a challenging control problem with complex, noisy, dynamics. Nowadays, not only the continuous scientific advances in underwater robotics but the increasing number of subsea missions and its complexity ask for an automatization of submarine processes. This paper proposes a high-level control system for solving the action selection problem of an autonomous robot. The system is characterized by the use of reinforcement learning direct policy search methods (RLDPS) for learning the internal state/action mapping of some behaviors. We demonstrate its feasibility with simulated experiments using the model of our underwater robot URIS in a target following task

Towards Direct Policy Search Reinforcement Learning for Robot Control

This paper proposes a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot. Although the dominant approach, when using RL, has been to apply value function based algorithms, the system here detailed is characterized by the use of direct policy search methods. Rather than approximating a value function, these methodologies approximate a policy using an independent function approximator with its own parameters, trying to maximize the future expected reward. The policy based algorithm presented in this paper is used for learning the internal state/action mapping of a behavior. In this preliminary work, we demonstrate its feasibility with simulated experiments using the underwater robot GARBI in a target reaching task

Interpretation of wind components as compositional variables

The classical statistical study of the wind speed in the atmospheric surface layer is madegenerally from the analysis of the three habitual components that perform the wind data,that is, the component W-E, the component S-N and the vertical component,considering these components independent.When the goal of the study of these data is the Aeolian energy, so is when wind isstudied from an energetic point of view and the squares of wind components can beconsidered as compositional variables. To do so, each component has to be divided bythe module of the corresponding vector.In this work the theoretical analysis of the components of the wind as compositionaldata is presented and also the conclusions that can be obtained from the point of view ofthe practical applications as well as those that can be derived from the application ofthis technique in different conditions of weather

Endocannabinoid system and psychiatry: in search of a neurobiological basis for detrimental and potential therapeutic effects.

Public concern on mental health has noticeably increased given the high prevalence of neuropsychiatric disorders. Cognition and emotionality are the most affected functions in neuropsychiatric disorders, i.e., anxiety disorders, depression, and schizophrenia. In this review, most relevant literature on the role of the endocannabinoid (eCB) system in neuropsychiatric disorders will be presented. Evidence from clinical and animal studies is provided for the participation of CB1 and CB2 receptors (CB1R and CB2R) in the above mentioned neuropsychiatric disorders. CBRs are crucial in some of the emotional and cognitive impairments reported, although more research is required to understand the specific role of the eCB system in neuropsychiatric disorders. Cannabidiol (CBD), the main non-psychotropic component of the Cannabis sativa plant, has shown therapeutic potential in several neuropsychiatric disorders. Although further studies are needed, recent studies indicate that CBD therapeutic effects may partially depend on facilitation of eCB-mediated neurotransmission. Last but not least, this review includes recent findings on the role of the eCB system in eating disorders. A deregulation of the eCB system has been proposed to be in the bases of several neuropsychiatric disorders, including eating disorders. Cannabis consumption has been related to the appearance of psychotic symptoms and schizophrenia. In contrast, the pharmacological manipulation of this eCB system has been proposed as a potential strategy for the treatment of anxiety disorders, depression, and anorexia nervosa. In conclusion, the eCB system plays a critical role in psychiatry; however, detrimental consequences of manipulating this endogenous system cannot be underestimated over the potential and promising perspectives of its therapeutic manipulation.

Análisis de las principales variables determinantes de la evolución de la mortalidad por demencias en Andalucía.

BACKGROUND The dementias are a cause of mortality have increased over the last years. Therefore is important to analyze the variables more related to its development in Andalusia between 1999 and 2010. METHODS With the deaths of 60 and over by dementia from Andalusia Statistical Institute and the populations from corresponding years, are estimated crude mortality rates, standardized and age-specific; by joinpoint regression was calculated percentages annual change; and also, with the population estimates by marital status and deaths was calculated crude rates and standardized for age, sex and marital status. RESULTS The standardized mortality rates increased from 124.8 to 161.0 deaths per 100,000 in women and 110.3 to 147.7 in men, the annual increase was 4.2% and 3.8% in women and men. The women died more than men with a standardized rate ratio between 1.08 and 1.29. Age was the variable that determined mortality. CONCLUSIONS Mortality from dementia in Andalusia has increased over the past 12 years and will continue to increase with the consequent social and health impacts posed by these diseases, configured as a major health problem.

Search for a platelet-activating factor receptor in the Trypanosoma cruzi proteome: a potential target for Chagas disease chemotherapy

Chagas disease (CD) causes the highest burden of parasitic diseases in the Western Hemisphere and is therefore a priority for drug research and development. Platelet-activating factor (PAF) causes the CD parasite Trypanosoma cruzi to differentiate, which suggests that the parasite may express PAF receptors. Here, we explored the T. cruzi proteome for PAF receptor-like proteins. From a total of 23,000 protein sequences, we identified 29 hypothetical proteins that are predicted to have seven transmembrane domains (TMDs), which is the main characteristic of the G protein-coupled receptors (GPCRs), including the PAF receptor. The TMDs of these sequences were independently aligned with domains from 25 animal PAF receptors and the sequences were analysed for conserved residues. The conservation score mean values for the TMDs of the hypothetical proteins ranged from 31.7-44.1%, which suggests that if the putative T. cruzi PAF receptor is among the sequences identified, the TMDs are not highly conserved. These results suggest that T. cruzi contains several GPCR-like proteins and that one of these GPCRs may be a PAF receptor. Future studies may further validate the PAF receptor as a target for CD chemotherapy.

Validation de la version française de l'échelle de contrôle de Levenson (IPC), influence de variables démographiques et de la personnalité

We have examined the internal validity of the Levenson's locus of control scales (IPC, Internal, Powerful others and Chances), translated by Loas et al. (1994). The impact of different demographic variables on the Levenson's locus of control scales was assessed. After, we studied the relation between the IPC scales and the NEO PI R, personality inventory that measures the big five. A large sample (n=200) of subjects of different age, gender and profession and a sample of Swiss students (n=161) responding anonymously were used. The reliability of the IPC scale is acceptable. The analyses of the impact of the demographic variables show that gender and level of education have an influence on the I (intern) scale. Age, gender, level of education and profession have an impact on the P (powerful others) scale. The analyses of the relationship between locus of control and personality showed that there was a negative correlation between I (intern) and Neuroticism and a positive correlation between I and Extraversion and Consciousness. The P (powerful others) scale correlate positively with Neuroticism and negatively with Openness and Agreability. The C scale (chance) correlate positively with Neuroticism. Our study also gives the researchers and the practitioner a reference score table according to the gender, the age, the level of education and the profession.

Intelligent PCA contribution analysis for quality estimation in batch processes. Application in a sequencing batch reactor for wastewater treatment

En aquest treball, es proposa un nou mètode per estimar en temps real la qualitat del producte final en processos per lot. Aquest mètode permet reduir el temps necessari per obtenir els resultats de qualitat de les anàlisi de laboratori. S'utiliza un model de anàlisi de componentes principals (PCA) construït amb dades històriques en condicions normals de funcionament per discernir si un lot finalizat és normal o no. Es calcula una signatura de falla pels lots anormals i es passa a través d'un model de classificació per la seva estimació. L'estudi proposa un mètode per utilitzar la informació de les gràfiques de contribució basat en les signatures de falla, on els indicadors representen el comportament de les variables al llarg del procés en les diferentes etapes. Un conjunt de dades compost per la signatura de falla dels lots anormals històrics es construeix per cercar els patrons i entrenar els models de classifcació per estimar els resultas dels lots futurs. La metodologia proposada s'ha aplicat a un reactor seqüencial per lots (SBR). Diversos algoritmes de classificació es proven per demostrar les possibilitats de la metodologia proposada.

Efectos de la deficiencia de yodo sobre variables intelectuales en una población infantil.

An association between severe iodine deficiency and poor mental development has been found in many studies. We examined the relationship between moderate or mild iodine deficiency and intellectual capacity in order to determine whether problems common to severe iodine deficiency (including mental retardation) also emerge in a more subtle form. We also wished to know whether the classic methodology (comparing iodine-deficient zones with nondeficient zones) is the most adequate, and propose to combine this grouping by zones with urinary iodine presented by individuals in each zone. We measured IQ, manipulative and verbal capacity, attention, visual motor ability and disruptive behaviour, variables that have barely been studied in this kind of investigations. The sample comprised 760 schoolchildren from the province of Jaén (southern Spain). Our results show that children with low levels of iodine intake and with urinary iodine concentration lower than 100 microg/litre had a lower IQ and displayed more disruptive behaviour than children with high levels of the criteria. The other variables were not associated with iodine deficiency.

Sistema motivacional i variables individuals en la rehabilitació

Aquest treball s’ha realitzat en el Centre Educatiu Montilivi, un centre de Justícia Juvenil, on predominen les mesures en règim semiobert. L’objectiu principal del centre és oferir als menors la experiència i la formació necessària per superar els handicaps, deixar l’activitat delictiva i participar en la societat de manera normalitzada. L’any 2002 es va implantar un sistema motivacional que, basat en el condicionament operant i l’aprenentatge social, facilités la participació activa i responsable dels interns. El sistema motivacional s’estructura en etapes progressives. El menor, superat el període d’observació inicial, se l’assigna a una etapa on pot gaudir dels avantatges corresponents. Una avaluació continuada, li permetrà anar assolint la puntuació necessària que li donarà la opció de progressar a una etapa superior. En aquesta gaudirà de més avantatges. L’objectiu bàsic de la recerca és avaluar l’eficàcia del sistema motivacional pel que fa la desaparició o reducció de les conductes indesitjables de: no retorn, fugides, reincidència i conflictes dins del centre i buscar relació d’aquestes variables amb diversos factors individuals. Per dur a terme la recerca s’han seleccionat 135 menors que hem distribuït en dos grups. un grup de control anterior a la implementació del sistema motivacional; i un grup d’intervenció a qui si se’ls ha aplicat el sistema motivacional. Els resultats diuen que la mostra respon a un patró antisocial greu. També diu que l’aplicació d’un sistema motivacional no s’ha associat a una reducció de les conductes antisocials dels interns durant el període d’aplicació. Malgrat això, sí es percebut com una eina eficaç per interns i professionals.

Variables de la concessió de la llibertat condicional a Catalunya

Aproximadament un 40% dels subjectes de la mostra de 1.14a subjectes no han arribat a ser considerats per a l’alliberament condicional, tot i haver complert les 3/4 parts de la condemna. La modalitat de llibertat condicional ordinària en complir les ¾ parts de la condemna predomina sobre la resta de modalitats d’alliberament. En el cas d’aquest estudi, només un 7,6% havia accedit al benefici de la llibertat condicional avançada. Respecte a la incidència de les variables personals en l’accés a la llibertat condicional, ser dona, tenir nacionalitat espanyola i un nivell molt baix o un nivell alt de formació influeix positivament en l’obtenció de la llibertat condicional. La variable nacionalitat estrangera té una influència molt negativa en la concessió de la llibertat condicional. Respecte a les variables penals, els delictes de lesions, seguits dels delictes contra la propietat, com tots els tipus de robatoris, tenen els percentatges de denegació de la llibertat condicional més alts. Respecte a les variables penitenciàries, es conclou que com més obert sigui el règim inicialment aplicat, més probabilitats hi ha de sortir en llibertat condicional. Les activitats realitzades durant el compliment de la condemna no semblen tenir, en general, una incidència positiva en la concessió de la llibertat condicional. En aquest sentit, es podria dir que ja a l’inici de la condemna es pot determinar les possibilitats que es tindran de sortir en llibertat condicional, independentment dels progressos o canvis que es realitzin durant el compliment de la condemna. Les variables més significatives en la concessió de la llibertat condicional, segons l’anàlisi de regressió logística, són 4: l’habitualitat, els dies totals de sortida en funció del temps, el temps passat com a preventiu i el nombre de faltes greus. La regressió logística ha permès construir una equació amb aquestes 4 variables independents, que dibuixa el perfil d’un intern en llibertat condicional, i també descriu quins són els interns susceptibles de gaudir de la llibertat condicional o no, amb la probabilitat d’encertar en 80 de cada 100 casos.

A genome-wide association search for type 2 diabetes genes in African Americans.

African Americans are disproportionately affected by type 2 diabetes (T2DM) yet few studies have examined T2DM using genome-wide association approaches in this ethnicity. The aim of this study was to identify genes associated with T2DM in the African American population. We performed a Genome Wide Association Study (GWAS) using the Affymetrix 6.0 array in 965 African-American cases with T2DM and end-stage renal disease (T2DM-ESRD) and 1029 population-based controls. The most significant SNPs (n = 550 independent loci) were genotyped in a replication cohort and 122 SNPs (n = 98 independent loci) were further tested through genotyping three additional validation cohorts followed by meta-analysis in all five cohorts totaling 3,132 cases and 3,317 controls. Twelve SNPs had evidence of association in the GWAS (P<0.0071), were directionally consistent in the Replication cohort and were associated with T2DM in subjects without nephropathy (P<0.05). Meta-analysis in all cases and controls revealed a single SNP reaching genome-wide significance (P<2.5×10(-8)). SNP rs7560163 (P = 7.0×10(-9), OR (95% CI) = 0.75 (0.67-0.84)) is located intergenically between RND3 and RBM43. Four additional loci (rs7542900, rs4659485, rs2722769 and rs7107217) were associated with T2DM (P<0.05) and reached more nominal levels of significance (P<2.5×10(-5)) in the overall analysis and may represent novel loci that contribute to T2DM. We have identified novel T2DM-susceptibility variants in the African-American population. Notably, T2DM risk was associated with the major allele and implies an interesting genetic architecture in this population. These results suggest that multiple loci underlie T2DM susceptibility in the African-American population and that these loci are distinct from those identified in other ethnic populations.

How to Measure Scope Variables when no Metrics Exist : Application to Landscape Quality Measurement and Hedonic Price Evaluation

Landscape is an example of a non-market good where no metrics exist to measure its quality. The paper proposes an original methodology to nevertheless estimate scope variables in those circumstances, allowing then to better test if people's willingnesstopay for such good is sensitive to the scope. The methodology is based on techniques developed in the context of multicriteria decision analysis. It is applied to assess the quality of the landscape of several Swiss alpine resorts. This assessment is then used as an explanatory variable in a hedonic price function to explain the rent of apartments and to derive an implicit price of the landscape quality.

Proxies de temperatura i pluviositat per a la reconstrucció climàtica a la Península Ibèrica

Amb la finalitat d’avaluar els lípids alquilats com a proxies de precipitació i temperatura a la Península Ibèrica, s’han analitzat 23 mostres de sòls de diferents punts del territori espanyol. L’estudi d’aquests biomarcadors cuticulars s’ha fet a través de la identificació i quantificació del seu contingut a les mostres, el càlcul de diversos paràmetres com l’índex de preferència de carboni (CPI), la longitud mitjana de cadena (ACL) o la pèrdua de matèria orgànica per ignició (LOI), i la recerca de correlacions estadístiques entre les variables climàtiques dels punts de mostreig i els resultats obtinguts. Aquests conclouen amb el fet de que els lípids alquilats són útils com a biomarcadors cuticulars de plantes superiors i tenen un potencial significatiu com a proxies de precipitació a la Península Ibèrica.